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Vehicle Velocity and Roll Angle Estimation with Road and Friction Adaptation for Four-Wheel Independent Drive Electric Vehicle

Linhui Zhao, Zhiyuan Liu
2014 Mathematical Problems in Engineering  
The relationship between the longitudinal and lateral friction forces is derived based on Dugoff tire model.  ...  And then using the relationship, the estimated longitudinal friction forces and roll angle, a sliding mode observer for vehicle velocity estimation is provided, which does not need to know the tire-road  ...  Acknowledgments This work was supported by the National Natural Science Foundation of China (no. 61104060) and the China Postdoctoral Science Foundation (no. 2014M551244).  ... 
doi:10.1155/2014/801628 fatcat:chws3bm23vhpbghjw4stevaqdm

Advanced Estimation Techniques for Vehicle System Dynamic State: A Survey

Jin, Yin, Chen
2019 Sensors  
Different aspects of estimation strategies and methodologies in recent literature are classified into two main categories—the model-based estimation approach and the data-driven-based estimation approach  ...  However, the practical effects and potential performance of vehicle active safety dynamics control systems heavily depend on real-time knowledge of fundamental vehicle state information, which is difficult  ...  On the basis of the input-to-state stability (ISS) theory [111] [112] [113] , nonlinear observer of longitudinal and lateral velocities have been proposed.  ... 
doi:10.3390/s19194289 fatcat:orxcpccbx5bqtorvfumxjcdguu

Tire-road forces estimation using extended Kalman filter and sideslip angle evaluation

J. Dakhlallah, S. Glaser, S. Mammar, Y. Sebsadji
2008 2008 American Control Conference  
Longitudinal velocity, acceleration and yaw rate are easily measured using low cost sensors that are actually mounted in standard on a large part of recent vehicles.  ...  Using an appropriate vehicle model and available measurements, the vehicle state as well as the road/tire interaction forces are reconstructed by implementing an Extended Kalman Filter.  ...  longitudinal velocity, & the lateral one, the yaw rate while the moment of inertia. , and are respectively the longitudinal and lateral tire/road forces and the rotational moment around the vertical axis  ... 
doi:10.1109/acc.2008.4587220 dblp:conf/amcc/DakhlallahGMS08 fatcat:2og27fbu2ba4no57zufhatvnwq

Corner-based estimation of tire forces and vehicle velocities robust to road conditions

Ehsan Hashemi, Mohammad Pirani, Amir Khajepour, Alireza Kasaiezadeh, Shih-Ken Chen, Bakhtiar Litkouhi
2017 Control Engineering Practice  
This paper presents a novel method for tire force and velocity estimation at each corner to monitor tire capacities individually.  ...  The stability of the time-varying longitudinal and lateral velocity estimators is explored. The proposed method is experimentally validated in several maneuvers on different road surface frictions.  ...  ACKNOWLEDGMENT The authors would like to acknowledge the financial support of the Automotive Partnership Canada, Ontario Research Fund, and the financial and technical support of General Motors Co.  ... 
doi:10.1016/j.conengprac.2017.01.009 fatcat:cukmd4atkfatnp7d7tgukaekc4

Design of a Novel Nonlinear Observer to Estimate Sideslip Angle and Tire Forces for Distributed Electric Vehicle

Chuanxue Song, Feng Xiao, Shixin Song, Shaokun Li, Jianhua Li
2015 Mathematical Problems in Engineering  
In addition, a nonlinear dynamics tire model is utilized to improve the accuracy of tire lateral force estimation.  ...  Therefore, this paper presented a state observer to estimate these variables based on Unscented Kalman Filter (UKF).  ...  Acknowledgment This work is supported by International Cooperation Projects of Ministry of Science and Technology of China (2010DFB83650).  ... 
doi:10.1155/2015/134615 fatcat:5tqer6m53bhk7lmmfvfphvhizq

Comparative Study of Two Dynamics-Model-Based Estimation Algorithms for Distributed Drive Electric Vehicles

2017 Applied Sciences  
Using the proposed algorithms, vehicle longitudinal velocity, lateral velocity, yaw rate as well as lateral tire forces are estimated based on information fusion of standard sensors in today's typical  ...  Based on the piecewise linear tire model, Ren et al. [24] achieved vehicle state estimation with UKF.  ...  Based on the analysis of the simulation results, our findings are summarized as follows. (1) The estimation results for vehicle states including the longitudinal velocity, lateral velocity, yaw rate, and  ... 
doi:10.3390/app7090898 fatcat:sftc5besurbahoq4xarrmvc7pq

Vehicle Sideslip Angle Estimation Based on Hybrid Kalman Filter

Jing Li, Jiaxu Zhang
2016 Mathematical Problems in Engineering  
This paper presents a new hybrid Kalman filter to estimate vehicle sideslip angle based on the 3-DoF nonlinear vehicle dynamic model combined with Magic Formula tire model.  ...  Moreover, SCKF and SCRHKF work in parallel, and the estimation outputs of two filters are merged by interacting multiple model (IMM) approach.  ...  Acknowledgments This work is supported by National Natural Science Foundation of China (Grant no. 51275206).  ... 
doi:10.1155/2016/3269142 fatcat:tzkxzlzoabeafodtkvzizrsu3e

Vehicle sideslip estimation

2009 IEEE Control Systems  
An observer based on forcing the dynamics of the nonlinear estimation error to follow the dynamics of a linear reference system is investigated in [8], [9].  ...  This behavior is due to the nonlinearity of the friction forces between the tires and the road surface.  ...  In [14] a linear observer for the vehicle velocity is used as an input to a Kalman filter based on the kinematic equations of motion.  ... 
doi:10.1109/mcs.2009.934083 fatcat:fliyuw7ab5fc5dja47unus4omm

Comparative study of vehicle tyre–road friction coefficient estimation with a novel cost-effective method

Boyuan Li, Haiping Du, Weihua Li
2014 Vehicle System Dynamics  
By using this method, the vehicle absolute velocity and slip ratio can be estimated by an improved nonlinear observer without using GPS, and the friction force and tyre-road friction coefficient can be  ...  Based on the qualitative analysis and the numerical comparisons, it is found that all of the three typical methods can successfully estimate the tyre force and friction coefficient in most of the test  ...  Acknowledgements The authors would like to thank the anonymous reviewers for their invaluable comments and suggestions, which are helpful for improving the quality of the paper.  ... 
doi:10.1080/00423114.2014.920090 fatcat:mfwp5flbk5fs7d3rqyej3kbbga

A method to estimate the lateral tire force and the sideslip angle of a vehicle: Experimental validation

M Doumiati, A Victorino, A Charara, D Lechner
2010 Proceedings of the 2010 American Control Conference  
One of these major contributions consists of evaluating the lateral tire forces at each tire and not per axle.  ...  This study introduces a new estimation process for lateral tire/road forces and vehicle's sideslip angle.  ...  Consequently, the lateral tire forces at each tire are calculated based on the estimated states and using a quasi-static tire model.  ... 
doi:10.1109/acc.2010.5531319 fatcat:n5nhctkgdnf5xgbyrqx37i4tri

Effect of load distribution on longitudinal and lateral forces acting on each wheel of a compact electric vehicle

Baarath Kunjunni, Muhammad Aizzat bin Zakaria, Anwar P.P Majeed, A. Fakhri A. Nasir, Mohamad Heerwan Bin Peeie, Umar Zakir Abdul Hamid
2020 SN Applied Sciences  
The model is used to analyze the effect of load on vehicle longitudinal and lateral forces.  ...  Based on the result, increasing the load on the side of direction of lateral motion increases the lateral force generated.  ...  Acknowledgements The authors would like to thank for the financial support of the project provided under the Fundamental Research Grant Scheme (FRGS) no. RDU190104 by Ministry of Education, Malaysia.  ... 
doi:10.1007/s42452-020-1996-9 fatcat:75viacngvvgrxkwyzavxmeat2u

A technical survey on tire-road friction estimation

Seyedmeysam Khaleghian, Anahita Emami, Saied Taheri
2017 Friction  
Due to its direct relation to vehicle stability, accurate estimation of tire-road friction is of interest to all vehicle and tire companies.  ...  The emphasize of this review paper is on the algorithms and studies, which are more popular and have been repeated several times.  ...  and Luenberger observer based method on the nonlinear vehicle model to estimate the forces and road grade.  ... 
doi:10.1007/s40544-017-0151-0 fatcat:fgn2knmj6jecjinpty3x43crri

Vehicle State Estimation Using Interacting Multiple Model Based on Square Root Cubature Kalman Filter

Wan Wenkang, Feng Jingan, Song Bao, Li Xinxin
2021 Applied Sciences  
To estimate the vehicle longitudinal, lateral, and yaw motion states, the algorithm uses a three degree of freedom (3-DOF) vehicle dynamics model and a nonlinear brush tire model, which is then validated  ...  In order to observe the vehicle motion state accurately and in real-time, while reducing the effect of uncertainty in noise statistical information, the vehicle state observer is designed based on interacting  ...  Future research could include developing a hardware-in-the-loop simulation platform for vehicle state observation, studying vehicle models with more degrees of freedom and parameter estimation, and conduct  ... 
doi:10.3390/app112210772 fatcat:g2qfytnlubdgrl4foqj3qtu2gq

Unscented Kalman filter for real-time vehicle lateral tire forces and sideslip angle estimation

Moustapha Doumiati, Alessandro Victorino, Ali Charara, Daniel Lechner
2009 2009 IEEE Intelligent Vehicles Symposium  
The ability to accurately estimate lateral tire forces and sideslip angle is a critical determinant in the performances of many vehicle control system and making vehicle's danger indices.  ...  The estimation process method is based on the dynamic response of a vehicle instrumented with easily-available standard sensors.  ...  For example, in [9] , the authors estimate longitudinal and lateral vehicle velocities and evaluate sideslip angle and lateral forces.  ... 
doi:10.1109/ivs.2009.5164399 fatcat:garg2psydrayvhni4u47ukn53q

Longitudinal vehicle state estimation using nonlinear and parameter-varying observers

Ehsan Hashemi, Saeid Khosravani, Amir Khajepour, Alireza Kasaiezadeh, Shih-Ken Chen, Bakhtiar Litkouhi
2017 Mechatronics (Oxford)  
The proposed observer uses longitudinal forces, updates the states by minimizing the longitudinal force estimation error, and provides accurate outcomes at each tire.  ...  This approach incorporates internal tire states within the vehicle kinematics and enables the velocity estimator to work for a wide range of maneuvers without road friction information.  ...  This test platform is equipped with additional sensors for direct measurement of longitudinal/lateral tire forces at each corner and velocities for evaluation of the force and velocity estimation algorithms  ... 
doi:10.1016/j.mechatronics.2017.02.004 fatcat:k3zt44k62venjdevv6ib3nc4um
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